An Online Trajectory Planning Method for Hypersonic Aircraft Considering Maneuverability

The hypersonic aircraft possesses high-speed flight capabilities but lacks maneuverability, making it challenging to simultaneously consider timeliness, optimality, and maneuver constraints in trajectory planning when faced with sudden threats. For this issue, this paper proposes an online trajectory planning algorithm that considers maneuverability - the Eccentric Tightening Trajectory Planning method. Upon the A∗ algorithm, this method generates a search grid based on obstacle edges to reduce search complexity and utilizes Dubins curves to ensure maneuver constraints. Through comparisons with classical A∗ and DWA algorithms in three scenarios, simulation results demonstrate that the proposed algorithm satisfies maneuverability constraints, meets the efficiency requirements of online planning, and exhibits higher efficiency in scenarios with longer distances and fewer threats.